from core.oak_fcc3_service import OakFcc3Service

svc = OakFcc3Service(
    fps=15,
    width=640,
    height=400,
    frame_type="MULTISPEC",
    capture_mode="TRIPLE",
    raw_policy="require_triple",
    sync_mode="best",
    sync_tolerance_ms=25.0,
)

svc.connect()
svc.begin(frame_type="RAW_BRUTO", output_dtype="uint8", capture_mode="TRIPLE")

frame, meta = svc.capture_frame(timeout=2.0)

print(meta["camera_info"])
for cam_id, arr in frame.items():
    print(cam_id, arr.shape, arr.dtype, arr.size)

from core.raw_processor_core import RawProcessorCore
from core.raw_processor_preview import RawProcessorPreview
import cv2

core = RawProcessorCore(sensor_width=1280, sensor_height=800, bayer_pattern="GBRG")
preview = RawProcessorPreview(sensor_width=1280, sensor_height=800, bayer_pattern="GBRG")

raw16 = core.unpack_raw10_packed(frame["cam0"], sensor_width=1280, sensor_height=800)
img = preview.raw16_to_preview_bgr(raw16, bit_depth=10)

cv2.imwrite("calibration/cam0_raw_preview.png", img)
print(raw16.shape, raw16.dtype, raw16.min(), raw16.max())

svc.stop()
svc.disconnect()